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Trumic, Maja and Della Santina, Cosimo and Jovanovic, Kosta and Fagiolini, Adriano (2022) On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control. IEEE Control Systems Letters, 7, pp. 385-390. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2022.3187612. ISSN 2475-1456.
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Official URL: https://dx.doi.org/10.1109/LCSYS.2022.3187612
Abstract
This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a template model for nonlinear control of underactuated soft robots. We look at how changes in physical parameters affect stability and equilibrium. We give conditions under which zero dynamics corresponding to a collocated choice of the output is (locally or globally) stable or unstable. We leverage these results to design a switching controller that stabilizes a class of nonlinear equilibria of the pendulum, which can drive the system from one equilibrium to another.
| Item URL in elib: | https://elib.dlr.de/193640/ | ||||||||||||||||||||
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| Document Type: | Article | ||||||||||||||||||||
| Title: | On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control | ||||||||||||||||||||
| Authors: |
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| Date: | 30 June 2022 | ||||||||||||||||||||
| Journal or Publication Title: | IEEE Control Systems Letters | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||
| Volume: | 7 | ||||||||||||||||||||
| DOI: | 10.1109/LCSYS.2022.3187612 | ||||||||||||||||||||
| Page Range: | pp. 385-390 | ||||||||||||||||||||
| Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||
| ISSN: | 2475-1456 | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | soft robotics | ||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||
| HGF - Program Themes: | Robotics | ||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||
| DLR - Program: | R RO - Robotics | ||||||||||||||||||||
| DLR - Research theme (Project): | R - Robot Dynamics & Simulation [RO] | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||||||
| Deposited By: | Strobl, Dr. Klaus H. | ||||||||||||||||||||
| Deposited On: | 27 Jan 2023 14:50 | ||||||||||||||||||||
| Last Modified: | 28 Jun 2023 13:54 |
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